chore(deps): update dependency elixir to v1.17.3

Welcome to [Renovate](https://github.com/renovatebot/renovate)! This is an onboarding PR to help you understand and configure settings before regular Pull Requests begin.

🚦 To activate Renovate, merge this Pull Request. To disable Renovate, simply close this Pull Request unmerged.

---
### Detected Package Files

 * `.tool-versions` (asdf)
 * `.drone.yml` (droneci)
 * `mix.exs` (mix)

### Configuration Summary

Based on the default config's presets, Renovate will:

  - Start dependency updates only once this onboarding PR is merged
  - Enable Renovate Dependency Dashboard creation.
  - Use semantic commit type `fix` for dependencies and `chore` for all others if semantic commits are in use.
  - Ignore `node_modules`, `bower_components`, `vendor` and various test/tests directories.
  - Group known monorepo packages together.
  - Use curated list of recommended non-monorepo package groupings.
  - Apply crowd-sourced package replacement rules.
  - Apply crowd-sourced workarounds for known problems with packages.
  - Use semantic prefixes for commit messages and PR titles.
  - Use `chore` as semantic commit type for commit messages and PR titles.
  - Removes rate limit for PR creation per hour.
  - Remove limit for open PRs at any time.
  - Automerge all upgrades (including `major`) if they pass tests.
  - Assign PRs to `james`.
  - Rebase existing PRs any time the base branch has been updated.
  - Raise PR when vulnerability alerts are detected.
  - Disable Renovate Dependency Dashboard creation.

🔡 Do you want to change how Renovate upgrades your dependencies? Add your custom config to `renovate.json` in this branch. Renovate will update the Pull Request description the next time it runs.

---

### What to Expect

With your current configuration, Renovate will create 1 Pull Request:

<details>
<summary>chore(deps): update dependency ex_doc to ~> 0.31</summary>

  - Schedule: ["at any time"]
  - Branch name: `renovate/ex_doc-0.x`
  - Merge into: `main`
  - Upgrade ex_doc to `~> 0.31`

</details>

---

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---

This PR has been generated by [Renovate Bot](https://github.com/renovatebot/renovate).

<!--renovate-config-hash:758a0db051676a629cb8daada3244b6287c728a47d095002c4ae62062eae6bf3-->

Reviewed-on: #31
Co-authored-by: Renovate Bot <bot@harton.nz>
Co-committed-by: Renovate Bot <bot@harton.nz>

.drone.yml

@@ -0,0 +1,382 @@
+kind: pipeline
+type: docker
+name: build
+
+steps:
+  - name: restore ASDF cache
+    image: meltwater/drone-cache
+    pull: "always"
+    environment:
+      AWS_ACCESS_KEY_ID:
+        from_secret: ACCESS_KEY_ID
+      AWS_SECRET_ACCESS_KEY:
+        from_secret: SECRET_ACCESS_KEY
+      AWS_PLUGIN_PATH_STYLE: true
+    settings:
+      restore: true
+      endpoint:
+        from_secret: S3_ENDPOINT
+      bucket:
+        from_secret: CACHE_BUCKET
+      region: us-east-1
+      path-style: true
+      cache_key: 'asdf-{{ os }}-{{ arch }}-{{ checksum ".tool-versions" }}'
+      mount:
+        - .asdf
+
+  - name: restore build cache
+    image: meltwater/drone-cache
+    environment:
+      AWS_ACCESS_KEY_ID:
+        from_secret: ACCESS_KEY_ID
+      AWS_SECRET_ACCESS_KEY:
+        from_secret: SECRET_ACCESS_KEY
+      AWS_PLUGIN_PATH_STYLE: true
+    settings:
+      restore: true
+      endpoint:
+        from_secret: S3_ENDPOINT
+      bucket:
+        from_secret: CACHE_BUCKET
+      region: us-east-1
+      path-style: true
+      cache_key: 'elixir-{{ checksum "mix.lock" }}-{{ checksum ".tool-versions" }}'
+      mount:
+        - deps
+        - _build
+        - .hex
+        - .mix
+        - .rebar3
+
+  - name: install dependencies
+    image: harton.dev/james/asdf_container:latest
+    pull: "always"
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+      ASDF_DIR: /root/.asdf
+    depends_on:
+      - restore ASDF cache
+      - restore build cache
+    commands:
+      - asdf_install
+      - rm -rf .asdf/downloads
+      - . $ASDF_DIR/asdf.sh
+      - mix local.hex --if-missing --force
+      - mix local.rebar --if-missing --force
+      - mix deps.get
+      - mix deps.compile
+      - mix dialyzer --plt
+
+  - name: store ASDF cache
+    image: meltwater/drone-cache
+    environment:
+      AWS_ACCESS_KEY_ID:
+        from_secret: ACCESS_KEY_ID
+      AWS_SECRET_ACCESS_KEY:
+        from_secret: SECRET_ACCESS_KEY
+      AWS_PLUGIN_PATH_STYLE: true
+    depends_on:
+      - install dependencies
+    settings:
+      rebuild: true
+      override: false
+      endpoint:
+        from_secret: S3_ENDPOINT
+      bucket:
+        from_secret: CACHE_BUCKET
+      region: us-east-1
+      path-style: true
+      cache_key: 'asdf-{{ os }}-{{ arch }}-{{ checksum ".tool-versions" }}'
+      mount:
+        - .asdf
+
+  - name: store build cache
+    image: meltwater/drone-cache
+    environment:
+      AWS_ACCESS_KEY_ID:
+        from_secret: ACCESS_KEY_ID
+      AWS_SECRET_ACCESS_KEY:
+        from_secret: SECRET_ACCESS_KEY
+      AWS_PLUGIN_PATH_STYLE: true
+    depends_on:
+      - install dependencies
+    settings:
+      rebuild: true
+      override: false
+      endpoint:
+        from_secret: S3_ENDPOINT
+      bucket:
+        from_secret: CACHE_BUCKET
+      region: us-east-1
+      path-style: true
+      cache_key: 'elixir-{{ checksum "mix.lock" }}-{{ checksum ".tool-versions" }}'
+      mount:
+        - deps
+        - _build
+        - .hex
+        - .mix
+        - .rebar3
+
+  - name: mix compile
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - install dependencies
+    commands:
+      - asdf mix compile --warnings-as-errors
+
+  - name: mix test
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - mix compile
+    commands:
+      - asdf mix test
+
+  - name: mix credo
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - mix compile
+    commands:
+      - asdf mix credo --strict
+
+  - name: mix dialyzer
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - mix compile
+    commands:
+      - asdf mix dialyzer
+
+  - name: mix hex.audit
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - mix compile
+    commands:
+      - asdf mix hex.audit
+
+  - name: mix format
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - mix compile
+    commands:
+      - asdf mix format --check-formatted
+
+  - name: mix deps.unlock
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - mix compile
+    commands:
+      - asdf mix deps.unlock --check-unused
+
+  - name: mix doctor
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - mix compile
+    commands:
+      - asdf mix doctor --full
+
+  - name: mix git_ops.check_message
+    image: harton.dev/james/asdf_container:latest
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+    depends_on:
+      - mix compile
+    commands:
+      - git log -1 --format=%s > .last_commit_message
+      - asdf mix git_ops.check_message .last_commit_message
+
+  - name: mix git_ops.release
+    image: harton.dev/james/asdf_container:latest
+    when:
+      branch:
+        - main
+      event:
+        exclude:
+          - pull_request
+    depends_on:
+      - mix test
+      - mix credo
+      - mix dialyzer
+      - mix hex.audit
+      - mix format
+      - mix deps.unlock
+      - mix doctor
+      - mix git_ops.check_message
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+      ASDF_DIR: /root/.asdf
+      DRONE_TOKEN:
+        from_secret: DRONE_TOKEN
+    commands:
+      - git fetch --tags
+      - . $ASDF_DIR/asdf.sh
+      - mix git_ops.project_info --format=shell > before.env
+      - mix git_ops.release --yes --no-major || true
+      - mix git_ops.project_info --format=shell > after.env
+      - . ./before.env
+      - export OLD_APP_VERSION=$${APP_VERSION}
+      - . ./after.env
+      - export NEW_APP_VERSION=$${APP_VERSION}
+      - if [ "v$${OLD_APP_VERSION}" != "v$${NEW_APP_VERSION}" ]; then
+      - export GIT_URL=$(echo $DRONE_GIT_HTTP_URL | sed -e "s/:\\/\\//:\\/\\/$DRONE_REPO_OWNER:$DRONE_TOKEN@/")
+      - git push $${GIT_URL} "HEAD:${DRONE_COMMIT_REF}" "refs/tags/v$${NEW_APP_VERSION}"
+      - fi
+
+  - name: build artifacts
+    image: harton.dev/james/asdf_container:latest
+    when:
+      event:
+        - tag
+      refs:
+        include:
+          - refs/tags/v*
+    depends_on:
+      - mix test
+      - mix credo
+      - mix dialyzer
+      - mix hex.audit
+      - mix format
+      - mix deps.unlock
+      - mix doctor
+      - mix git_ops.check_message
+    environment:
+      MIX_ENV: test
+      HEX_HOME: /drone/src/.hex
+      MIX_HOME: /drone/src/.mix
+      REBAR_BASE_DIR: /drone/src/.rebar3
+      ASDF_DATA_DIR: /drone/src/.asdf
+      ASDF_DIR: /root/.asdf
+    commands:
+      - . $ASDF_DIR/asdf.sh
+      - mix git_ops.project_info --format=shell > app.env
+      - . ./app.env
+      - mkdir artifacts
+      - mix hex.build -o "artifacts/$${APP_NAME}-$${APP_VERSION}-pkg.tar"
+      - gzip "artifacts/$${APP_NAME}-$${APP_VERSION}-pkg.tar"
+      - mix docs
+      - tar zcvf "artifacts/$${APP_NAME}-$${APP_VERSION}-docs.tar.gz" doc/
+      - git tag -l --format='%(contents:subject)' v$${APP_VERSION} > tag_subject
+      - git tag -l --format='%(contents:body)' v$${APP_VERSION} > tag_body
+
+  - name: gitea release
+    image: plugins/gitea-release
+    when:
+      event:
+        - tag
+      refs:
+        include:
+          - refs/tags/v*
+    depends_on:
+      - build artifacts
+    settings:
+      api_key:
+        from_secret: DRONE_TOKEN
+      base_url: https://harton.dev
+      files: artifacts/*.tar.gz
+      checksum: sha256
+      title: tag_subject
+      note: tag_body
+
+  - name: docs release
+    when:
+      event:
+        - tag
+      refs:
+        include:
+          - refs/tags/v*
+    image: minio/mc
+    environment:
+      S3_ENDPOINT:
+        from_secret: S3_ENDPOINT
+      ACCESS_KEY:
+        from_secret: ACCESS_KEY_ID
+      SECRET_KEY:
+        from_secret: SECRET_ACCESS_KEY
+    depends_on:
+      - build artifacts
+    commands:
+      - mc alias set store $${S3_ENDPOINT} $${ACCESS_KEY} $${SECRET_KEY}
+      - mc mb -p store/docs.harton.nz
+      - mc mirror --overwrite doc/ store/docs.harton.nz/$${DRONE_REPO}/$${DRONE_TAG}
+      - mc mirror --overwrite doc/ store/docs.harton.nz/$${DRONE_REPO}
+
+  # - name: hex release
+  #   image: harton.dev/james/asdf_container:latest
+  #   when:
+  #     event:
+  #       - tag
+  #     refs:
+  #       include:
+  #         - refs/tags/v*
+  #   depends_on:
+  #     - build artifacts
+  #   environment:
+  #     MIX_ENV: test
+  #     HEX_HOME: /drone/src/.hex
+  #     MIX_HOME: /drone/src/.mix
+  #     REBAR_BASE_DIR: /drone/src/.rebar3
+  #     ASDF_DATA_DIR: /drone/src/.asdf
+  #     ASDF_DIR: /root/.asdf
+  #     HEX_API_KEY:
+  #       from_secret: HEX_API_KEY
+  #   commands:
+  #     - . $ASDF_DIR/asdf.sh
+  #     - mix hex.publish --yes

.gitlab-ci.yml

@@ -1,138 +0,0 @@
-stages:
-  - build
-  - test
-  - release
-
-variables:
-  MIX_ENV: "test"
-  PACKAGE_REGISTRY_URL: "${CI_API_V4_URL}/projects/${CI_PROJECT_ID}/packages/generic/"
-  HEX_HOME: "$CI_PROJECT_DIR/.hex"
-  MIX_HOME: "$CI_PROJECT_DIR/.mix"
-
-build:
-  image: elixir:latest
-  stage: build
-  cache:
-    key: "$CI_JOB_NAME"
-    paths:
-      - deps
-      - _build
-      - .hex
-      - .mix
-  script:
-    - mix local.hex --force
-    - mix local.rebar --force
-    - mix deps.get
-    - mix deps.compile
-    - mix git_ops.project_info -f dotenv > project_info.env
-  artifacts:
-    paths:
-      - _build/
-      - deps/
-      - .hex
-      - .mix
-    reports:
-      dotenv: project_info.env
-
-test:
-  image: elixir:latest
-  dependencies:
-    - build
-  stage: test
-  script:
-    - mix test
-
-credo:
-  image: elixir:latest
-  dependencies:
-    - build
-  stage: test
-  script:
-    - mix credo
-
-audit:
-  image: elixir:latest
-  dependencies:
-    - build
-  stage: test
-  script:
-    - mix hex.audit
-
-format:
-  image: elixir:latest
-  dependencies:
-    - build
-  stage: test
-  script:
-    - mix format --check-formatted
-
-pages:
-  image: elixir:latest
-  dependencies:
-    - build
-  stage: release
-  script:
-    - mix docs -o public
-  artifacts:
-    paths:
-      - public
-  only:
-    - main
-
-git_ops:
-  image: elixir:latest
-  dependencies:
-    - build
-  stage: release
-  only:
-    refs:
-      - main
-  except:
-    variables:
-      - $CI_COMMIT_MESSAGE =~ /chore\:\ release version/
-  script:
-    - |
-      export OLD_APP_VERSION=$APP_VERSION
-      mkdir -p artifacts
-      git config --global user.name "Gitlab Runner for ${GITLAB_USER_NAME}"
-      git config --global user.email "${GITLAB_USER_EMAIL}"
-      mix git_ops.release --yes || true
-      mix git_ops.project_info -f shell > artifacts/env
-      source artifacts/env
-      if [ "v${OLD_APP_VERSION}" != "v${APP_VERSION}" ]; then
-        mix hex.build -o "artifacts/${APP_NAME}-${APP_VERSION}.tar"
-        gzip "artifacts/${APP_NAME}-${APP_VERSION}.tar"
-        mix docs && tar zcvf "artifacts/${APP_NAME}-${APP_VERSION}-docs.tar.gz" doc/
-        curl --header "JOB_TOKEN: ${CI_JOB_TOKEN}" --upload-file "artifacts/${APP_NAME}-${APP_VERSION}.tar.gz" "${PACKAGE_REGISTRY_URL}/${APP_NAME}/${APP_VERSION}/${APP_NAME}-${APP_VERSION}.tar.gz"
-        curl --header "JOB_TOKEN: ${CI_JOB_TOKEN}" --upload-file "artifacts/${APP_NAME}-${APP_VERSION}-docs.tar.gz" "${PACKAGE_REGISTRY_URL}/${APP_NAME}/${APP_VERSION}/${APP_NAME}-${APP_VERSION}-docs.tar.gz"
-        git push "https://project_${CI_PROJECT_ID}_bot:${RELEASE_TOKEN}@gitlab.com/${CI_PROJECT_PATH}.git" "HEAD:${CI_COMMIT_REF_NAME}" "refs/tags/v${APP_VERSION}"
-      fi
-  artifacts:
-    paths:
-      - artifacts/*
-
-release-gitlab:
-  image: registry.gitlab.com/gitlab-org/release-cli:latest
-  dependencies:
-    - build
-  stage: release
-  only:
-    - tags
-    - /^v\d+\.\d+\.\d+(-\w+)?$/
-  script:
-    - release-cli create \
-      --name "Release ${APP_NAME} ${APP_VERSION}" \
-      --description "./CHANGELOG.md" \
-      --tag-name "v${APP_VERSION}" \
-      --assets-link "{\"name\":\"${APP_NAME}-${APP_VERSION}.tar.gz\",\"url\":\"${PACKAGE_REGISTRY_URL}/${APP_NAME}/${APP_VERSION}/${APP_NAME}-${APP_VERSION}.tar.gz\"}" \
-      --assets-link "{\"name\":\"${APP_NAME}-${APP_VERSION}-docs.tar.gz\",\"url\":\"${PACKAGE_REGISTRY_URL}/${APP_NAME}/${APP_VERSION}/${APP_NAME}-${APP_VERSION}-docs.tar.gz\"}"
-# release-hex:
-#   image: elixir:latest
-#   dependencies:
-#     - build
-#   stage: release
-#   only:
-#     - tags
-#     - /^v\d+\.\d+\.\d+(-\w+)?$/
-#   script:
-#     - mix hex.publish --yes

.tool-versions

@@ -0,0 +1,2 @@
+erlang 27.1
+elixir 1.17.3

CHANGELOG.md

@@ -5,18 +5,19 @@ See [Conventional Commits](Https://conventionalcommits.org) for commit guideline
 
 <!-- changelog -->
 
-## [v1.0.0](https://gitlab.com/jimsy/kinemat/compare/v0.1.0...v1.0.0) (2023-01-16)
+## [v1.0.1](https://harton.dev/james/kinemat/compare/v1.0.0...v1.0.1) (2024-02-23)
+
+
+
+
+## [v1.0.0](https://harton.dev/james/kinemat/compare/v0.1.0...v1.0.0) (2023-01-16)
+
 ### Breaking Changes:
 
-* Relicense to HL3-FULL.
+- Relicense to HL3-FULL.
-
-
-
-## [v0.1.0](https://gitlab.com/jimsy/kinemat/compare/v0.1.0...v0.1.0) (2021-05-23)
-
-
 
+## [v0.1.0](https://harton.dev/james/kinemat/compare/v0.1.0...v0.1.0) (2021-05-23)
 
 ### Bug Fixes:
 
-* docs: fix compiler warnings caused by documentation typos.
+- docs: fix compiler warnings caused by documentation typos.

README.md

@@ -1,3 +1,6 @@
+[![Build Status](https://drone.harton.dev/api/badges/james/kinemat/status.svg)](https://drone.harton.dev/james/kinemat)
+[![Hippocratic License HL3-FULL](https://img.shields.io/static/v1?label=Hippocratic%20License&message=HL3-FULL&labelColor=5e2751&color=bc8c3d)](https://firstdonoharm.dev/version/3/0/full.html)
+
 # Kinemat
 
 Kinemat is the beginnings of a library for solving forward and reverse
@@ -13,10 +16,12 @@ For now, you can install it as a Git dependency:
 
 ```elixir
 def deps do
-  [{:kinemat, "~> 1.0.0"}]
+  [{:kinemat, "~> 1.0.1"}]
 end
 ```
 
+Docs are available on [docs.harton.nz](https://docs.harton.nz/james/kinemat).
+
 ## Usage
 
 ### Representing angles regardless of unit
@@ -32,7 +37,7 @@ information.
 ### Representing spacial coordinates
 
 Kinemat uses the `Point` protocol to handle manipulations of spacial
-coordinates.  The protocol is implemented by `Cartesian`, `Cylindrical` and
+coordinates. The protocol is implemented by `Cartesian`, `Cylindrical` and
 `Spherical`.
 
     iex> use Kinemat
@@ -116,6 +121,12 @@ Documentation can be generated with [ExDoc](https://github.com/elixir-lang/ex_do
 and published on [HexDocs](https://hexdocs.pm). Once published, the docs can
 be found at [https://hexdocs.pm/kinemat](https://hexdocs.pm/kinemat).
 
+## Github Mirror
+
+This repository is mirrored [on Github](https://github.com/jimsynz/kinemat)
+from it's primary location [on my Forgejo instance](https://harton.dev/james/kinemat).
+Feel free to raise issues and open PRs on Github.
+
 ## License
 
 This software is licensed under the terms of the
@@ -123,7 +134,7 @@ This software is licensed under the terms of the
 this package for the terms.
 
 This license actively proscribes this software being used by and for some
-industries, countries and activities.  If your usage of this software doesn't
+industries, countries and activities. If your usage of this software doesn't
 comply with the terms of this license, then [contact me](mailto:james@harton.nz)
 with the details of your use-case to organise the purchase of a license - the
 cost of which may include a donation to a suitable charity or NGO.

config/config.exs

@@ -3,7 +3,7 @@ import Config
 config :git_ops,
   mix_project: Mix.Project.get!(),
   changelog_file: "CHANGELOG.md",
-  repository_url: "https://gitlab.com/jimsy/kinemat",
+  repository_url: "https://harton.dev/james/kinemat",
   manage_mix_version?: true,
   manage_readme_version: "README.md",
   version_tag_prefix: "v"

lib/inspect/coordinates/cartesian.ex

@@ -7,6 +7,7 @@ defimpl Inspect, for: Kinemat.Coordinates.Cartesian do
     angle =
       angle
       |> Map.from_struct()
+      |> Enum.sort_by(&elem(&1, 0))
       |> Enum.into([])
 
     concat(["#Kinemat.Point<", to_doc(angle, opts), ">"])

lib/inspect/coordinates/cylindrical.ex

@@ -7,6 +7,7 @@ defimpl Inspect, for: Kinemat.Coordinates.Cylindrical do
     angle =
       angle
       |> Map.from_struct()
+      |> Enum.sort_by(&elem(&1, 0))
       |> Enum.into([])
 
     concat(["#Kinemat.Point<", to_doc(angle, opts), ">"])

lib/inspect/coordinates/spherical.ex

@@ -6,6 +6,7 @@ defimpl Inspect, for: Kinemat.Coordinates.Spherical do
     angle =
       angle
       |> Map.from_struct()
+      |> Enum.sort_by(&elem(&1, 0))
       |> Enum.into([])
 
     concat(["#Kinemat.Point<", to_doc(angle, opts), ">"])

lib/kinemat/coordiantes/cylindrical.ex

@@ -32,7 +32,7 @@ defmodule Kinemat.Coordinates.Cylindrical do
   @doc """
   Alias for `radial/1`.
   """
-  @spec rho(t) :: number
+  @spec rho(t) :: Angle.t()
   def rho(point), do: point |> azimuth()
 
   @doc """

lib/kinemat/coordiantes/spherical.ex

@@ -3,13 +3,13 @@ defmodule Kinemat.Coordinates.Spherical do
   defstruct ~w(radial azimuth polar)a
 
   @moduledoc """
-  Describes a point in 3D space using sperical notation (r,θ,ɸ).
+  Describes a point in 3D space using spherical notation (r,θ,ɸ).
   """
 
   @type t :: %Spherical{radial: number, azimuth: Angle.t(), polar: Angle.t()}
 
   @doc """
-  Initialise a sperical coordinate point from `rho`, `theta` and `phi` (r,θ,ɸ).
+  Initialise a spherical coordinate point from `rho`, `theta` and `phi` (r,θ,ɸ).
 
   ## Examples
 

lib/kinemat/homogeneous_transformation.ex

@@ -23,8 +23,8 @@ defmodule Kinemat.HomogeneousTransformation do
       ...> Frame.init(point, orientation)
       ...> |> Kinemat.HomogeneousTransformation.to_homogeneous_transformation()
       {1.0, 0.0, 0.0, 0.0,
-       0.0, 1.0, 0.0, 0.0,
+       -0.0, 1.0, 0.0, 0.0,
-       0.0, 0.0, 1.0, 0.0,
+       0.0, -0.0, 1.0, 0.0,
        0.0, 0.0, 0.0, 1.0}
   """
   @spec to_homogeneous_transformation(Frame.t()) :: t

lib/kinemat/joints/cylindrical.ex

@@ -47,8 +47,8 @@ defmodule Kinemat.Joints.Cylindrical do
   def init(%Frame{} = frame, []), do: init(frame)
 
   def init(%Frame{} = frame, options) when is_list(options) do
-    rlimits = Keyword.fetch(options, :rotation_limits)
+    rlimits = Keyword.get(options, :rotation_limits)
-    tlimits = Keyword.fetch(options, :translation_limits)
+    tlimits = Keyword.get(options, :translation_limits)
 
     crot =
       case rlimits do

lib/kinemat/joints/revolute.ex

@@ -8,7 +8,11 @@ defmodule Kinemat.Joints.Revolute do
   Describes a [Revolute](https://en.wikipedia.org/wiki/Revolute_joint) (AKA Hinged) joint.
   """
 
-  @type t :: %Revolute{frame: Frame.t(), limits: nil | Join.rotation_limit(), position: Angle.t()}
+  @type t :: %Revolute{
+          frame: Frame.t(),
+          limits: nil | Joint.rotation_limit(),
+          position: Angle.t()
+        }
 
   @doc """
   Initialize a new revolute joint from a reference frame.

lib/kinemat/orientation.ex

@@ -1,5 +1,10 @@
 defprotocol Kinemat.Orientation do
-  alias Kinemat.{Orientation, Euler, RotationMatrix, Quaternion}
+  alias Kinemat.{
+    Orientation,
+    Orientations.Euler,
+    Orientations.RotationMatrix,
+    Orientations.Quaternion
+  }
 
   @moduledoc """
   The Orientation protocol is used to convert between and manipulate the

lib/kinemat/orientation/rotation_matrix.ex

@@ -48,7 +48,7 @@ defimpl Kinemat.Orientation, for: Kinemat.Orientations.RotationMatrix do
   @spec to_euler(RotationMatrix.t()) :: Euler.t()
   def to_euler(orientation), do: RotationMatrix.ToEuler.to_euler(orientation, :xyz)
 
-  @spec to_euler(RotationMatrix.t(), Euler.valid_orientation()) :: Euler.t()
+  @spec to_euler(RotationMatrix.t(), Euler.valid_representation()) :: Euler.t()
   def to_euler(orientation, representation),
     do: RotationMatrix.ToEuler.to_euler(orientation, representation)
 end

lib/kinemat/point.ex

@@ -1,5 +1,5 @@
 defprotocol Kinemat.Point do
-  alias Kinemat.{Point, Cartesian, Cylindrical, Spherical}
+  alias Kinemat.{Point, Coordinates.Cartesian, Coordinates.Cylindrical, Coordinates.Spherical}
 
   @moduledoc """
   Describes a Point in 3 dimensional space.

lib/kinemat/point/cartesian.ex

@@ -35,7 +35,7 @@ defimpl Kinemat.Point, for: Kinemat.Coordinates.Cartesian do
   end
 
   @doc """
-  Converts the cartesian coordiantes to sperical coordinates.
+  Converts the cartesian coordinates to spherical coordinates.
 
   ## Examples
 
@@ -46,7 +46,7 @@ defimpl Kinemat.Point, for: Kinemat.Coordinates.Cartesian do
         azimuth: %Angle{r: 0.4234308319224211},
         polar:   %Angle{r: 0.982793723247329}}
   """
-  @spec to_spherical(Cartesian.t()) :: Sperical.t()
+  @spec to_spherical(Cartesian.t()) :: Spherical.t()
   def to_spherical(%Cartesian{x: x, y: y, z: z}) do
     rho = sqrt(pow(x, 2) + pow(y, 2) + pow(z, 2))
     theta = Radian.init(acos(z / rho))

lib/kinemat/point/sperical.ex

@@ -7,7 +7,7 @@ defimpl Kinemat.Point, for: Kinemat.Coordinates.Spherical do
   """
 
   @doc """
-  Convert a point in sperical space into cylindrical space.
+  Convert a point in spherical space into cylindrical space.
 
   ## Examples
 

lib/kinemat/trig.ex

@@ -3,16 +3,22 @@ defmodule Kinemat.Trig do
   A simple wrapper around `Angle`'s trig functions for compatibility.
   """
 
+  @doc false
+  @spec sin(Angle.t()) :: number
   def sin(%Angle{} = angle) do
     {_, result} = Angle.sin(angle)
     result
   end
 
+  @doc false
+  @spec cos(Angle.t()) :: number
   def cos(%Angle{} = angle) do
     {_, result} = Angle.cos(angle)
     result
   end
 
+  @doc false
+  @spec tan(Angle.t()) :: number
   def tan(%Angle{} = angle) do
     {_, result} = Angle.tan(angle)
     result

mix.exs

@@ -5,7 +5,7 @@ defmodule Kinemat.Mixfile do
   Forward and reverse kinematics for robotics and simulations.
   """
 
-  @version "1.0.0"
+  @version "1.0.1"
 
   def project do
     [
@@ -15,7 +15,11 @@ defmodule Kinemat.Mixfile do
       start_permanent: Mix.env() == :prod,
       package: package(),
       deps: deps(),
-      description: @description
+      description: @description,
+      docs: [
+        main: "readme",
+        extras: ["README.md", "CHANGELOG.md"]
+      ]
     ]
   end
 
@@ -24,7 +28,10 @@ defmodule Kinemat.Mixfile do
       maintainers: ["James Harton <james@harton.nz>"],
       licenses: ["HL3-FULL"],
       links: %{
-        "Source" => "https://gitlab.com/jimsy/kinemat"
+        "Source" => "https://harton.dev/james/kinemat",
+        "GitHub" => "https://github.com/jimsynz/kinemat",
+        "Changelog" => "https://docs.harton.nz/james/kinemat/changelog.html",
+        "Sponsor" => "https://github.com/sponsors/jimsynz"
       }
     ]
   end
@@ -40,9 +47,12 @@ defmodule Kinemat.Mixfile do
   defp deps do
     [
       {:angle, ">= 0.3.0"},
-      {:credo, "~> 1.6", only: ~w(dev test)a, runtime: false},
+      {:credo, "~> 1.6", only: ~w[dev test]a, runtime: false},
-      {:ex_doc, "~> 0.29", only: ~w(dev test)a},
+      {:dialyxir, "~> 1.4", only: ~w[dev test]a, runtime: false},
-      {:earmark, "~> 1.4", only: ~w(dev test)a},
+      {:doctor, "~> 0.21", only: ~w[dev test]a, runtime: false},
+      {:earmark, "~> 1.4", only: ~w[dev test]a, runtime: false},
+      {:ex_check, "~> 0.16", only: ~w[dev test]a, runtime: false},
+      {:ex_doc, "~> 0.30", only: ~w[dev test]a, runtime: false},
       {:git_ops, "~> 2.4", only: ~w[dev test]a, runtime: false},
       {:graphmath, "~> 2.5"}
     ]

mix.lock

@@ -1,17 +1,22 @@
 %{
-  "angle": {:hex, :angle, "0.3.0", "00405e6f80a7c34210a031ab1d13dd5222e0651f6abe4350a568375faebaefae", [:mix], [], "hexpm", "3c5ad1253d761fcb6234ccaafae004efdf4ee8297687bb4b08e2b93f2e1cf208"},
+  "angle": {:hex, :angle, "1.0.1", "9567f27b9ec4df12ef85c39faf8f6b797a247a6af484ba9974c4d65cb154b055", [:mix], [], "hexpm", "902b5c37b58c0aa61b3b09cd969ba323e822454081cf636904f0aa4746d690fd"},
-  "bunt": {:hex, :bunt, "0.2.0", "951c6e801e8b1d2cbe58ebbd3e616a869061ddadcc4863d0a2182541acae9a38", [:mix], [], "hexpm", "7af5c7e09fe1d40f76c8e4f9dd2be7cebd83909f31fee7cd0e9eadc567da8353"},
+  "bunt": {:hex, :bunt, "1.0.0", "081c2c665f086849e6d57900292b3a161727ab40431219529f13c4ddcf3e7a44", [:mix], [], "hexpm", "dc5f86aa08a5f6fa6b8096f0735c4e76d54ae5c9fa2c143e5a1fc7c1cd9bb6b5"},
-  "credo": {:hex, :credo, "1.6.1", "7dc76dcdb764a4316c1596804c48eada9fff44bd4b733a91ccbf0c0f368be61e", [:mix], [{:bunt, "~> 0.2.0", [hex: :bunt, repo: "hexpm", optional: false]}, {:file_system, "~> 0.2.8", [hex: :file_system, repo: "hexpm", optional: false]}, {:jason, "~> 1.0", [hex: :jason, repo: "hexpm", optional: false]}], "hexpm", "698607fb5993720c7e93d2d8e76f2175bba024de964e160e2f7151ef3ab82ac5"},
+  "credo": {:hex, :credo, "1.7.7", "771445037228f763f9b2afd612b6aa2fd8e28432a95dbbc60d8e03ce71ba4446", [:mix], [{:bunt, "~> 0.2.1 or ~> 1.0", [hex: :bunt, repo: "hexpm", optional: false]}, {:file_system, "~> 0.2 or ~> 1.0", [hex: :file_system, repo: "hexpm", optional: false]}, {:jason, "~> 1.0", [hex: :jason, repo: "hexpm", optional: false]}], "hexpm", "8bc87496c9aaacdc3f90f01b7b0582467b69b4bd2441fe8aae3109d843cc2f2e"},
-  "earmark": {:hex, :earmark, "1.4.19", "3854a17305c880cc46305af15fb1630568d23a709aba21aaa996ced082fc29d7", [:mix], [{:earmark_parser, ">= 1.4.18", [hex: :earmark_parser, repo: "hexpm", optional: false]}], "hexpm", "d5a8c9f9e37159a8fdd3ea8437fb4e229eaf56d5129b9a011dc4780a4872079d"},
+  "decimal": {:hex, :decimal, "2.1.1", "5611dca5d4b2c3dd497dec8f68751f1f1a54755e8ed2a966c2633cf885973ad6", [:mix], [], "hexpm", "53cfe5f497ed0e7771ae1a475575603d77425099ba5faef9394932b35020ffcc"},
-  "earmark_parser": {:hex, :earmark_parser, "1.4.28", "0bf6546eb7cd6185ae086cbc5d20cd6dbb4b428aad14c02c49f7b554484b4586", [:mix], [], "hexpm", "501cef12286a3231dc80c81352a9453decf9586977f917a96e619293132743fb"},
+  "dialyxir": {:hex, :dialyxir, "1.4.3", "edd0124f358f0b9e95bfe53a9fcf806d615d8f838e2202a9f430d59566b6b53b", [:mix], [{:erlex, ">= 0.2.6", [hex: :erlex, repo: "hexpm", optional: false]}], "hexpm", "bf2cfb75cd5c5006bec30141b131663299c661a864ec7fbbc72dfa557487a986"},
-  "ex_doc": {:hex, :ex_doc, "0.29.0", "4a1cb903ce746aceef9c1f9ae8a6c12b742a5461e6959b9d3b24d813ffbea146", [:mix], [{:earmark_parser, "~> 1.4.19", [hex: :earmark_parser, repo: "hexpm", optional: false]}, {:makeup_elixir, "~> 0.14", [hex: :makeup_elixir, repo: "hexpm", optional: false]}, {:makeup_erlang, "~> 0.1", [hex: :makeup_erlang, repo: "hexpm", optional: false]}], "hexpm", "f096adb8bbca677d35d278223361c7792d496b3fc0d0224c9d4bc2f651af5db1"},
+  "doctor": {:hex, :doctor, "0.21.0", "20ef89355c67778e206225fe74913e96141c4d001cb04efdeba1a2a9704f1ab5", [:mix], [{:decimal, "~> 2.0", [hex: :decimal, repo: "hexpm", optional: false]}], "hexpm", "a227831daa79784eb24cdeedfa403c46a4cb7d0eab0e31232ec654314447e4e0"},
-  "file_system": {:hex, :file_system, "0.2.10", "fb082005a9cd1711c05b5248710f8826b02d7d1784e7c3451f9c1231d4fc162d", [:mix], [], "hexpm", "41195edbfb562a593726eda3b3e8b103a309b733ad25f3d642ba49696bf715dc"},
+  "earmark": {:hex, :earmark, "1.4.47", "7e7596b84fe4ebeb8751e14cbaeaf4d7a0237708f2ce43630cfd9065551f94ca", [:mix], [], "hexpm", "3e96bebea2c2d95f3b346a7ff22285bc68a99fbabdad9b655aa9c6be06c698f8"},
+  "earmark_parser": {:hex, :earmark_parser, "1.4.39", "424642f8335b05bb9eb611aa1564c148a8ee35c9c8a8bba6e129d51a3e3c6769", [:mix], [], "hexpm", "06553a88d1f1846da9ef066b87b57c6f605552cfbe40d20bd8d59cc6bde41944"},
+  "erlex": {:hex, :erlex, "0.2.6", "c7987d15e899c7a2f34f5420d2a2ea0d659682c06ac607572df55a43753aa12e", [:mix], [], "hexpm", "2ed2e25711feb44d52b17d2780eabf998452f6efda104877a3881c2f8c0c0c75"},
+  "ex_check": {:hex, :ex_check, "0.16.0", "07615bef493c5b8d12d5119de3914274277299c6483989e52b0f6b8358a26b5f", [:mix], [], "hexpm", "4d809b72a18d405514dda4809257d8e665ae7cf37a7aee3be6b74a34dec310f5"},
+  "ex_doc": {:hex, :ex_doc, "0.30.0", "ed94bf5183f559d2f825e4f866cc0eab277bbb17da76aff40f8e0f149656943e", [:mix], [{:earmark_parser, "~> 1.4.31", [hex: :earmark_parser, repo: "hexpm", optional: false]}, {:makeup_elixir, "~> 0.14", [hex: :makeup_elixir, repo: "hexpm", optional: false]}, {:makeup_erlang, "~> 0.1", [hex: :makeup_erlang, repo: "hexpm", optional: false]}], "hexpm", "6743fe46704fe27e2f2558faa61f00e5356528768807badb2092d38476d6dac2"},
+  "file_system": {:hex, :file_system, "1.0.0", "b689cc7dcee665f774de94b5a832e578bd7963c8e637ef940cd44327db7de2cd", [:mix], [], "hexpm", "6752092d66aec5a10e662aefeed8ddb9531d79db0bc145bb8c40325ca1d8536d"},
   "git_cli": {:hex, :git_cli, "0.3.0", "a5422f9b95c99483385b976f5d43f7e8233283a47cda13533d7c16131cb14df5", [:mix], [], "hexpm", "78cb952f4c86a41f4d3511f1d3ecb28edb268e3a7df278de2faa1bd4672eaf9b"},
-  "git_ops": {:hex, :git_ops, "2.4.5", "185a724dfde3745edd22f7571d59c47a835cf54ded67e9ccbc951920b7eec4c2", [:mix], [{:git_cli, "~> 0.2", [hex: :git_cli, repo: "hexpm", optional: false]}, {:nimble_parsec, "~> 1.0", [hex: :nimble_parsec, repo: "hexpm", optional: false]}], "hexpm", "e323a5b01ad53bc8c19c3a444be3e61ed7803ecd2e95530446ae9327d0143ecc"},
+  "git_ops": {:hex, :git_ops, "2.6.1", "cc7799a68c26cf814d6d1a5121415b4f5bf813de200908f930b27a2f1fe9dad5", [:mix], [{:git_cli, "~> 0.2", [hex: :git_cli, repo: "hexpm", optional: false]}, {:nimble_parsec, "~> 1.0", [hex: :nimble_parsec, repo: "hexpm", optional: false]}], "hexpm", "ce62d07e41fe993ec22c35d5edb11cf333a21ddaead6f5d9868fcb607d42039e"},
-  "graphmath": {:hex, :graphmath, "2.5.0", "46b327a521260a287a05ba662fb666fd84e363bb005ee6428cf7504abe582b01", [:mix], [], "hexpm", "2406cc35ecb4793320433176c3dba77b000a74bf25bc79ad778b99f422a4ba7a"},
+  "graphmath": {:hex, :graphmath, "2.6.0", "55d71ac55d943d75ec8beea131cbd2024e1d302537c43cfb79677656a8d5f099", [:mix], [], "hexpm", "eb418636060c7a011eff0898e9e90fa5a9e45e661b8ddce3ac664765a17f7bfa"},
-  "jason": {:hex, :jason, "1.2.2", "ba43e3f2709fd1aa1dce90aaabfd039d000469c05c56f0b8e31978e03fa39052", [:mix], [{:decimal, "~> 1.0 or ~> 2.0", [hex: :decimal, repo: "hexpm", optional: true]}], "hexpm", "18a228f5f0058ee183f29f9eae0805c6e59d61c3b006760668d8d18ff0d12179"},
+  "jason": {:hex, :jason, "1.4.1", "af1504e35f629ddcdd6addb3513c3853991f694921b1b9368b0bd32beb9f1b63", [:mix], [{:decimal, "~> 1.0 or ~> 2.0", [hex: :decimal, repo: "hexpm", optional: true]}], "hexpm", "fbb01ecdfd565b56261302f7e1fcc27c4fb8f32d56eab74db621fc154604a7a1"},
   "makeup": {:hex, :makeup, "1.1.0", "6b67c8bc2882a6b6a445859952a602afc1a41c2e08379ca057c0f525366fc3ca", [:mix], [{:nimble_parsec, "~> 1.2.2 or ~> 1.3", [hex: :nimble_parsec, repo: "hexpm", optional: false]}], "hexpm", "0a45ed501f4a8897f580eabf99a2e5234ea3e75a4373c8a52824f6e873be57a6"},
-  "makeup_elixir": {:hex, :makeup_elixir, "0.16.0", "f8c570a0d33f8039513fbccaf7108c5d750f47d8defd44088371191b76492b0b", [:mix], [{:makeup, "~> 1.0", [hex: :makeup, repo: "hexpm", optional: false]}, {:nimble_parsec, "~> 1.2.3", [hex: :nimble_parsec, repo: "hexpm", optional: false]}], "hexpm", "28b2cbdc13960a46ae9a8858c4bebdec3c9a6d7b4b9e7f4ed1502f8159f338e7"},
+  "makeup_elixir": {:hex, :makeup_elixir, "0.16.1", "cc9e3ca312f1cfeccc572b37a09980287e243648108384b97ff2b76e505c3555", [:mix], [{:makeup, "~> 1.0", [hex: :makeup, repo: "hexpm", optional: false]}, {:nimble_parsec, "~> 1.2.3 or ~> 1.3", [hex: :nimble_parsec, repo: "hexpm", optional: false]}], "hexpm", "e127a341ad1b209bd80f7bd1620a15693a9908ed780c3b763bccf7d200c767c6"},
-  "makeup_erlang": {:hex, :makeup_erlang, "0.1.1", "3fcb7f09eb9d98dc4d208f49cc955a34218fc41ff6b84df7c75b3e6e533cc65f", [:mix], [{:makeup, "~> 1.0", [hex: :makeup, repo: "hexpm", optional: false]}], "hexpm", "174d0809e98a4ef0b3309256cbf97101c6ec01c4ab0b23e926a9e17df2077cbb"},
+  "makeup_erlang": {:hex, :makeup_erlang, "0.1.2", "ad87296a092a46e03b7e9b0be7631ddcf64c790fa68a9ef5323b6cbb36affc72", [:mix], [{:makeup, "~> 1.0", [hex: :makeup, repo: "hexpm", optional: false]}], "hexpm", "f3f5a1ca93ce6e092d92b6d9c049bcda58a3b617a8d888f8e7231c85630e8108"},
-  "nimble_parsec": {:hex, :nimble_parsec, "1.2.3", "244836e6e3f1200c7f30cb56733fd808744eca61fd182f731eac4af635cc6d0b", [:mix], [], "hexpm", "c8d789e39b9131acf7b99291e93dae60ab48ef14a7ee9d58c6964f59efb570b0"},
+  "nimble_parsec": {:hex, :nimble_parsec, "1.4.0", "51f9b613ea62cfa97b25ccc2c1b4216e81df970acd8e16e8d1bdc58fef21370d", [:mix], [], "hexpm", "9c565862810fb383e9838c1dd2d7d2c437b3d13b267414ba6af33e50d2d1cf28"},
 }

renovate.json

@@ -1,3 +1,6 @@
 {
-  "extends": ["gitlab>jimsy/renovate"]
+  "$schema": "https://docs.renovatebot.com/renovate-schema.json",
+  "extends": [
+    "local>renovate/renovate"
+  ]
 }